US20060086201A1 - Actuator apparatus incorporating a controller - Google Patents
Actuator apparatus incorporating a controller Download PDFInfo
- Publication number
- US20060086201A1 US20060086201A1 US10/969,322 US96932204A US2006086201A1 US 20060086201 A1 US20060086201 A1 US 20060086201A1 US 96932204 A US96932204 A US 96932204A US 2006086201 A1 US2006086201 A1 US 2006086201A1
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- United States
- Prior art keywords
- threaded rod
- actuator
- respect
- electric motor
- nut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 17
- 230000008878 coupling Effects 0.000 claims description 16
- 238000010168 coupling process Methods 0.000 claims description 16
- 238000005859 coupling reaction Methods 0.000 claims description 16
- 238000004804 winding Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005355 Hall effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/30—Controlling members actuated by foot
- G05G1/44—Controlling members actuated by foot pivoting
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/30—Controlling members actuated by foot
- G05G1/40—Controlling members actuated by foot adjustable
- G05G1/405—Controlling members actuated by foot adjustable infinitely adjustable
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20528—Foot operated
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20528—Foot operated
- Y10T74/20534—Accelerator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20576—Elements
- Y10T74/20888—Pedals
Definitions
- An actuator for an adjustable pedal is used in an automotive vehicle to vary the operating position of a foot pedal that controls a vehicle system, such as the engine throttle, brake system or clutch.
- a known adjustable pedal uses an electrical motor to rotate a drive cable that, in turn, rotates a worm gear to adjust the position of a pedal.
- Other known actuators eliminate the cable and connect the worm gear more directly to a pedal lever.
- the present invention provides an adjustable positioning apparatus that includes a first member that is movably supported with respect to a base, an adjuster that is supported on the first member, and a second member.
- the adjuster includes a displacement device, an actuator, and a controller.
- the displacement device includes a first portion that is coupled to the first member, and includes a second portion that is displaced with respect to the first portion.
- the actuator displaces the second portion with respect to the first portion, and the controller operates the actuator and determines displacement of the second portion with respect to the first portion.
- the second member is coupled to the second portion.
- the present invention also provides an apparatus for adjustably positioning a foot-operated control with respect to a vehicle chassis.
- the apparatus includes a lever, which is pivotally supported on the vehicle chassis, an adjuster that is supported on the lever, and a pedal.
- the adjuster includes a threaded rod, a nut, an electric motor, a body, and a controller.
- the nut cooperatively engages the threaded rod.
- the threaded rod is supported for relative rotation with respect to the lever arm, and the nut is displaced upon rotation of the threaded rod.
- the electric motor rotates the threaded rod and includes a plurality of coils.
- the housing includes a body portion and a coupling portion. The electric motor is disposed in the body portion, which is fixed with respect to the lever.
- the controller is disposed in the coupling portion and includes a motor driver and a processor.
- the motor driver provides a drive signal to the plurality of coils
- the processor determines displacement of the nut with respect to the threaded rod based on a feedback signal generated in the plurality of coils during operation of the electric motor.
- the pedal is fixed to the nut.
- the present invention also provides an actuator including a threaded rod, a nut, an electric motor, a housing that includes a body portion and a coupling portion, and a controller.
- the threaded rod extends along an axis.
- the nut cooperatively engages the threaded rod and is displaced along the axis upon rotation of the threaded rod.
- the electric motor which is disposed in the body portion of the housing, rotates the threaded rod and includes a plurality of coils.
- the controller is disposed in the coupling portion and includes a motor driver and a processor.
- the motor driver provides a drive signal to the plurality of coils
- the processor determines displacement of the nut with respect to the threaded rod based on a feedback signal generated in the plurality of coils during operation of the electric motor.
- FIG. 1 is schematic view of an adjustable pedal according to a preferred embodiment.
- FIG. 2 is a isometric view of a preferred embodiment of an adjustable positioning apparatus according to a preferred embodiment.
- FIG. 3 is an axial longitudinal view of the preferred embodiment of the adjustable positioning apparatus shown in FIG. 2 .
- FIG. 4 is a axial end view of the preferred embodiment of the adjustable positioning apparatus shown in FIG. 2 .
- FIG. 5 is an exploded isometric view of the preferred embodiment of the adjustable positioning apparatus shown in FIG. 2 .
- FIG. 6 is a cross-section taken along line VI-VI in FIG. 4 .
- an adjustable pedal is generally shown at 10 .
- the adjustable pedal 10 pivots about an axis 12 with respect to a base, e.g., a vehicle chassis, which is schematically indicated at 12 a .
- the adjustable pedal 10 may be operatively associated with a vehicle system 14 such as an engine throttle control system, a brake system or a clutch.
- a pedal lever 20 is pivotally supported for rotation about the pivot axis 12 with respect to the vehicle chassis 12 a .
- the pedal lever 20 includes a first lever arm 22 that extends from a pivot 24 to a first lever arm end 22 a operatively connected to the vehicle system 14 .
- a second lever arm 26 extends from the pivot 24 to a second lever arm end 26 a .
- Coupled with the second lever arm end 26 a is a pedal 28 that is engaged by a foot to operate the pedal lever 20 .
- the actuator 30 Interconnecting a first member, e.g., the pedal lever 20 , and a second member, e.g., the pedal 28 , is an actuator 30 that displaces the pedal 28 relative to the pedal lever 20 .
- the actuator 30 may include a drive source, such as an electric motor, and may include a linkage, such as a rotary to linear motion converter. Relative displacement is directed by a guide 31 , which may be tubular with a longitudinal slot.
- U.S. Pat. Nos. 5,722,302 and 5,964,125 and 6,698,309, which show a drive source and a linkage for an adjustable pedal, are hereby incorporated by reference it their entireties.
- an actuator 30 including an electrically operated motor 32 providing a rotary drive source.
- the electric motor 32 may sequential move in discrete angular increments, e.g., a stepper motor, or may move in a continuous manner, e.g., a brushless motor.
- the motor 32 rotates a threaded rod 40 , which results in linear displacement of a nut 42 that is cooperatively engaged with the threaded rod 40 .
- the motor 32 could rotate a nut causing linear displacement of a cooperatively engaged threaded rod.
- other types of rotary to linear motion converters e.g., rack and pinion gearing or worm gearing, could be used to displace a pedal 28 with respect to a lever 20 .
- the motor 32 is preferably constructed with a stator 34 that has a plurality of windings or coils 34 a (e.g., one of three is shown in FIG. 6 ) that are angularly spaced around the axis of rotation (e.g., 120 degrees), and an armature 36 that includes a permanent magnet 36 a .
- a stator 34 that has a plurality of windings or coils 34 a (e.g., one of three is shown in FIG. 6 ) that are angularly spaced around the axis of rotation (e.g., 120 degrees), and an armature 36 that includes a permanent magnet 36 a .
- the motor 32 is disposed in a housing 50 that preferably supports the threaded rod 40 for relative rotation. Antifriction devices such as a bearing 52 may be used at the interface of the threaded rod 40 and the housing 50 .
- the housing 50 preferably includes a body portion 54 , in which the motor 32 is disposed, and a coupling portion 56 , by which the electrical connections are made with the motor 32 .
- at least the body portion 54 of the housing 50 may be assembled from more than one piece. As particularly shown in FIG. 3 , the body portion 54 may preferably be divided into a front piece 54 a and a back piece 54 b .
- An insert molded lead frame 58 may be disposed in the bottom of the back piece to make the electrical connections with the coils 34 a.
- the coupling portion 56 of the housing 50 preferably includes an enclosure portion 56 a for a controller 60 , and an interchangeable electrical connector portion 56 b , which is preferably detachable with respect to the enclosure portion 56 a.
- the interchangeable electrical connector portion 56 b facilitates providing various configurations of electrical contacts to matingly engage different styles of plug connectors. It is envisioned that the body portion 54 and the enclosure portion 56 a would be universally used, and a particular interchangeable electrical connector portion 56 b would be selected according to the particular specification of the manufacturer for the vehicle chassis 12 a.
- the controller 60 that is disposed in the enclosure portion 56 a of the coupling portion 56 preferably includes an application-specific integrated circuit (ASIC) 62 that can perform at least two functions: 1) driving the coils 34 a , and 2) determining displacement of the pedal 28 with respect to the vehicle chassis 12 a .
- the first function is commonly referred to as a motor drive circuit.
- the second function is performed by a processor based on the number of rotations of the armature 34 , which is determined using back emf, as discussed previously, and the stored knowledge of the thread pitch of the threaded rod 40 .
- the controller 60 preferably also includes a memory for different operational positions of the pedal 28 , such as for the preferences of different operators of the vehicle.
- the controller 60 In the event of a loss of the current operational position of the pedal, e.g., due to the motor 32 stalling, the controller 60 detects the stall and adjusts the pedal lever position or shuts down the actuator 30 so as to maintain the existing relationship between the pedal lever 20 and the pedal 28 .
- the controller 60 may use an included software program to reset the adjustable pedal 10 by displacing the petal 22 to its extreme positions, as detected by the motor 32 stalling.
- a device for adjusting the position of the pedal 28 can be effected by a switch, e.g., a rocker switch, that is manually actuated by the operator of the vehicle, or can be effected by a body controller unit which may interrelate a number of ergonomic and safety adjustments.
- a switch e.g., a rocker switch
- the body control unit may adjust the seat and pedal positions so that an occupant is a prescribed distance from the airbags.
- An adjustable petal system 10 that uses a body control unit may require as few as three electrical contacts for each actuator 30 : a power contact, a ground contact, and a communication contact.
- the power and ground contacts supply the power required by the motor 32
- the communication contact may be connected via a digital serial communication link to the body control unit.
- two additional contacts may be required to connect the actuator 30 with the wire from the increase spacing pole of the switch and with the wire from the decrease spacing pole of the switch.
- Incorporating a controller 60 that is mounted directly on the actuator 30 provides the present invention with a number of advantages.
- the present invention eliminates a separate controller that is additionally mounted on the chassis and then additionally connected to the actuator 30 .
- the present invention eliminates the need to draw processing capacity from other preexisting processors, e.g., engine control unit.
- the controller 60 processing the back emf signals from the coils 34 a , the present invention eliminates the need for additional motor rotation sensors, e.g., an array of Hall effect sensors, which add cost, complexity and size.
- the present invention eliminates at least four wires from the wiring harnesses connecting the actuator 30 .
- the interchangeable electrical connector portion 56 b of the present invention facilitates the universal applicability of the actuator 30 while providing an easy manner of adapting to varying styles of electrical plug connectors.
Abstract
Description
- An actuator for an adjustable pedal is used in an automotive vehicle to vary the operating position of a foot pedal that controls a vehicle system, such as the engine throttle, brake system or clutch.
- A known adjustable pedal uses an electrical motor to rotate a drive cable that, in turn, rotates a worm gear to adjust the position of a pedal. Other known actuators eliminate the cable and connect the worm gear more directly to a pedal lever. These known systems are believed to suffer from a number of disadvantages, which include large numbers of parts, excessive noise and imprecise output. Another disadvantage of these know assemblies is believed to be the large size requirements within the tight confines of the driver's footwell.
- The present invention provides an adjustable positioning apparatus that includes a first member that is movably supported with respect to a base, an adjuster that is supported on the first member, and a second member. The adjuster includes a displacement device, an actuator, and a controller. The displacement device includes a first portion that is coupled to the first member, and includes a second portion that is displaced with respect to the first portion. The actuator displaces the second portion with respect to the first portion, and the controller operates the actuator and determines displacement of the second portion with respect to the first portion. The second member is coupled to the second portion.
- The present invention also provides an apparatus for adjustably positioning a foot-operated control with respect to a vehicle chassis. The apparatus includes a lever, which is pivotally supported on the vehicle chassis, an adjuster that is supported on the lever, and a pedal. The adjuster includes a threaded rod, a nut, an electric motor, a body, and a controller. The nut cooperatively engages the threaded rod. The threaded rod is supported for relative rotation with respect to the lever arm, and the nut is displaced upon rotation of the threaded rod. The electric motor rotates the threaded rod and includes a plurality of coils. The housing includes a body portion and a coupling portion. The electric motor is disposed in the body portion, which is fixed with respect to the lever. The controller is disposed in the coupling portion and includes a motor driver and a processor. The motor driver provides a drive signal to the plurality of coils, and the processor determines displacement of the nut with respect to the threaded rod based on a feedback signal generated in the plurality of coils during operation of the electric motor. The pedal is fixed to the nut.
- The present invention also provides an actuator including a threaded rod, a nut, an electric motor, a housing that includes a body portion and a coupling portion, and a controller. The threaded rod extends along an axis. The nut cooperatively engages the threaded rod and is displaced along the axis upon rotation of the threaded rod. The electric motor, which is disposed in the body portion of the housing, rotates the threaded rod and includes a plurality of coils. The controller is disposed in the coupling portion and includes a motor driver and a processor. The motor driver provides a drive signal to the plurality of coils, and the processor determines displacement of the nut with respect to the threaded rod based on a feedback signal generated in the plurality of coils during operation of the electric motor.
- The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate presently preferred embodiments of the invention, and, together with the general description given above and the detailed description given below, serve to explain features of the invention. Like numerals indicate like or corresponding parts throughout the several views.
-
FIG. 1 is schematic view of an adjustable pedal according to a preferred embodiment. -
FIG. 2 is a isometric view of a preferred embodiment of an adjustable positioning apparatus according to a preferred embodiment. -
FIG. 3 is an axial longitudinal view of the preferred embodiment of the adjustable positioning apparatus shown inFIG. 2 . -
FIG. 4 is a axial end view of the preferred embodiment of the adjustable positioning apparatus shown inFIG. 2 . -
FIG. 5 is an exploded isometric view of the preferred embodiment of the adjustable positioning apparatus shown inFIG. 2 . -
FIG. 6 is a cross-section taken along line VI-VI inFIG. 4 . - Referring initially to
FIG. 1 , an adjustable pedal is generally shown at 10. Theadjustable pedal 10 pivots about anaxis 12 with respect to a base, e.g., a vehicle chassis, which is schematically indicated at 12 a. Theadjustable pedal 10 may be operatively associated with avehicle system 14 such as an engine throttle control system, a brake system or a clutch. - A
pedal lever 20 is pivotally supported for rotation about thepivot axis 12 with respect to thevehicle chassis 12 a. In particular, thepedal lever 20 includes afirst lever arm 22 that extends from apivot 24 to a firstlever arm end 22 a operatively connected to thevehicle system 14. And asecond lever arm 26 extends from thepivot 24 to a secondlever arm end 26 a. Coupled with the secondlever arm end 26 a is apedal 28 that is engaged by a foot to operate thepedal lever 20. - Interconnecting a first member, e.g., the
pedal lever 20, and a second member, e.g., thepedal 28, is anactuator 30 that displaces thepedal 28 relative to thepedal lever 20. Theactuator 30 may include a drive source, such as an electric motor, and may include a linkage, such as a rotary to linear motion converter. Relative displacement is directed by aguide 31, which may be tubular with a longitudinal slot. U.S. Pat. Nos. 5,722,302 and 5,964,125 and 6,698,309, which show a drive source and a linkage for an adjustable pedal, are hereby incorporated by reference it their entireties. - Referring now to
FIGS. 2-6 , there is shown a preferred embodiment of anactuator 30 including an electrically operatedmotor 32 providing a rotary drive source. Theelectric motor 32 may sequential move in discrete angular increments, e.g., a stepper motor, or may move in a continuous manner, e.g., a brushless motor. Preferably, themotor 32 rotates a threadedrod 40, which results in linear displacement of anut 42 that is cooperatively engaged with the threadedrod 40. Alternatively, themotor 32 could rotate a nut causing linear displacement of a cooperatively engaged threaded rod. Further, other types of rotary to linear motion converters, e.g., rack and pinion gearing or worm gearing, could be used to displace apedal 28 with respect to alever 20. - The
motor 32 is preferably constructed with astator 34 that has a plurality of windings orcoils 34 a (e.g., one of three is shown inFIG. 6 ) that are angularly spaced around the axis of rotation (e.g., 120 degrees), and anarmature 36 that includes apermanent magnet 36 a. As is well understood, sequentially energizing and de-energizing each of thecoils 34 a set up individual magnetic fields that either attract or repulse thepermanent magnet 36 a, thereby causing thearmature 36 to rotate. At the same time, rotation of thepermanent magnet 36 a induces in thecoils 34 a a current that can be used to determine angular movement, e.g., number of rotations of thearmature 34. The phenomenon that creates this current is commonly referred to as back electromotive force, or back emf. - The
motor 32 is disposed in ahousing 50 that preferably supports the threadedrod 40 for relative rotation. Antifriction devices such as abearing 52 may be used at the interface of the threadedrod 40 and thehousing 50. Thehousing 50 preferably includes abody portion 54, in which themotor 32 is disposed, and acoupling portion 56, by which the electrical connections are made with themotor 32. In order to facilitate assembly of theactuator 30, at least thebody portion 54 of thehousing 50 may be assembled from more than one piece. As particularly shown inFIG. 3 , thebody portion 54 may preferably be divided into afront piece 54 a and aback piece 54 b. An insert moldedlead frame 58 may be disposed in the bottom of the back piece to make the electrical connections with thecoils 34 a. - The
coupling portion 56 of thehousing 50 preferably includes anenclosure portion 56 a for acontroller 60, and an interchangeableelectrical connector portion 56 b, which is preferably detachable with respect to theenclosure portion 56a. The interchangeableelectrical connector portion 56 b facilitates providing various configurations of electrical contacts to matingly engage different styles of plug connectors. It is envisioned that thebody portion 54 and theenclosure portion 56 a would be universally used, and a particular interchangeableelectrical connector portion 56 b would be selected according to the particular specification of the manufacturer for thevehicle chassis 12 a. - The
controller 60 that is disposed in theenclosure portion 56 a of thecoupling portion 56 preferably includes an application-specific integrated circuit (ASIC) 62 that can perform at least two functions: 1) driving thecoils 34 a, and 2) determining displacement of the pedal 28 with respect to thevehicle chassis 12 a. The first function is commonly referred to as a motor drive circuit. And the second function is performed by a processor based on the number of rotations of thearmature 34, which is determined using back emf, as discussed previously, and the stored knowledge of the thread pitch of the threadedrod 40. Thecontroller 60 preferably also includes a memory for different operational positions of the pedal 28, such as for the preferences of different operators of the vehicle. - In the event of a loss of the current operational position of the pedal, e.g., due to the
motor 32 stalling, thecontroller 60 detects the stall and adjusts the pedal lever position or shuts down theactuator 30 so as to maintain the existing relationship between thepedal lever 20 and thepedal 28. When thecontroller 60 detects stall of themotor 32, e.g., based on unusual voltage and time characteristics exhibited by the drive circuit, thecontroller 60 may use an included software program to reset theadjustable pedal 10 by displacing thepetal 22 to its extreme positions, as detected by themotor 32 stalling. - In operation, a device for adjusting the position of the pedal 28 can be effected by a switch, e.g., a rocker switch, that is manually actuated by the operator of the vehicle, or can be effected by a body controller unit which may interrelate a number of ergonomic and safety adjustments. For example, in the case of a vehicle equipped with a system of airbags, the body control unit may adjust the seat and pedal positions so that an occupant is a prescribed distance from the airbags.
- An
adjustable petal system 10 that uses a body control unit may require as few as three electrical contacts for each actuator 30: a power contact, a ground contact, and a communication contact. The power and ground contacts supply the power required by themotor 32, and the communication contact may be connected via a digital serial communication link to the body control unit. In the case of a manual switch, two additional contacts may be required to connect theactuator 30 with the wire from the increase spacing pole of the switch and with the wire from the decrease spacing pole of the switch. - Incorporating a
controller 60 that is mounted directly on theactuator 30 provides the present invention with a number of advantages. First, the present invention eliminates a separate controller that is additionally mounted on the chassis and then additionally connected to theactuator 30. Second, by virtue of having self-contained processing power, the present invention eliminates the need to draw processing capacity from other preexisting processors, e.g., engine control unit. Third, by virtue of thecontroller 60 processing the back emf signals from thecoils 34 a, the present invention eliminates the need for additional motor rotation sensors, e.g., an array of Hall effect sensors, which add cost, complexity and size. Fourth, by virtue of thecontroller 60 processing the back emf signals from thecoils 34 a, the present invention eliminates at least four wires from the wiring harnesses connecting theactuator 30. Fifth, the interchangeableelectrical connector portion 56 b of the present invention facilitates the universal applicability of theactuator 30 while providing an easy manner of adapting to varying styles of electrical plug connectors. - While the present invention has been disclosed with reference to certain preferred embodiments, numerous modifications, alterations, and changes to the described embodiments are possible without departing from the sphere and scope of the present invention, as defined in the appended claims. Accordingly, it is intended that the present invention not be limited to the described embodiments, but that it have the full scope defined by the language of the following claims, and equivalents thereof.
Claims (21)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US10/969,322 US7640826B2 (en) | 2004-10-21 | 2004-10-21 | Actuator apparatus incorporating a controller |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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US10/969,322 US7640826B2 (en) | 2004-10-21 | 2004-10-21 | Actuator apparatus incorporating a controller |
Publications (2)
Publication Number | Publication Date |
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US20060086201A1 true US20060086201A1 (en) | 2006-04-27 |
US7640826B2 US7640826B2 (en) | 2010-01-05 |
Family
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Application Number | Title | Priority Date | Filing Date |
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US10/969,322 Expired - Fee Related US7640826B2 (en) | 2004-10-21 | 2004-10-21 | Actuator apparatus incorporating a controller |
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US (1) | US7640826B2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101406592B1 (en) * | 2013-05-07 | 2014-06-11 | 기아자동차주식회사 | Active control method of accelerator pedal effort |
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2004
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US4470570A (en) * | 1982-09-29 | 1984-09-11 | The Boeing Company | Control assembly for aircraft |
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